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Author(s):
Knoll, Daniel Westhoff AND Hagen Stanek AND Torsten Scherer AND Jianwei Zhang AND Alois 
Title:
A flexible framework for task-oriented programming of service robots 
Journal title:
Robotik 2004, VDI/VDE-Gesellschaft Mess- und Automatisierungstechnik, VDI-Berichte 
Year:
2004